<launch>

    <node pkg="gmapping" type="slam_gmapping" name='gmapping_node' output='screen' required="true">
        <param name="base_frame" value="base_link"/>
        <param name="odom_frame" value="odom"/>
        <param name="delta" value="0.01"/>
        <param name="xmin" value="-5"/>
        <param name="ymin" value="-5"/>
        <param name="xmax" value="5"/>
        <param name="ymax" value="5"/>
        <param name="maxUrange" value="25"/>
        <param name="map_update_interval" value="1"/>
        <param name="linearUpdate" value="0.1"/>
        <param name="angularUpdate" value="0.1"/>
        <param name="temporalUpdate" value="-1"/>
        <param name="particles" value="100"/>
    </node>

</launch>